Clamp installation apparatus, clamp installation system and method of installing a clamp

1. A clamp installation apparatus comprising: a robot arm pedestal having a rotary table; a robot arm installed on the rotary table of the robot arm pedestal and having a plurality of arms and a plurality of joints; a robot hand installed to the most distal arm of the plurality of arms; and a control device, wherein the robot hand comprises: a clamp holding section configured to hold a clamp; a fastening section configured to fasten an engaging section of the clamp to give a clamp force to a work; and a measuring section configured to collect position data of a predetermined member of the clamp, wherein the control device: controls the clamp holding section to hold the clamp; controls the rotary table, the plurality of joints of the robot arm and the robot hand such that the clamp is conveyed to a first predetermined position of a work pedestal on which the work has been placed in a condition that the clamp is held, and that an engaging section of the clamp is coupled to an connection section of the work pedestal; and controls the fastening section so that the clamp force is calculated based on the position data acquired from the measuring section in a condition that the clamp and the work pedestal are connected to each other, and the calculated clamp force become a predetermined value.

2. The clamp installation apparatus according to claim 1 , wherein the clamp comprises: a frame; a screw section configured to engage with the frame and extend; an elastic section connected with the screw section and configured to give the clamp force to the work, wherein the control device controls the fastening section to screw the screw section, so that the calculated clamp force becomes the predetermined value in a condition that the clamp and the work pedestal are coupled to each other.

3. The clamp installation apparatus according to claim 2 , wherein the elastic section comprises: a spring; a spring-section upper plate provided to one end of the spring to be connected with the screw section; and a spring-section lower plate provided to the other end of the spring, and wherein the spring-section lower plate gives an elastic clamp force to the work.

4. The clamp installation apparatus according to claim 3 , wherein the measuring section has a laser sensor section configured to measure the position data of the spring-section upper plate and the spring-section lower plate.

5. The clamp installation apparatus according to claim 2 , wherein a head is formed in an upper end of the screw section, and wherein the fastening section has a nut runner configured to drive the head.

6. The clamp installation apparatus according to claim 1 , wherein the clamp holding section has a parallel chuck which holds the clamp.

7. The clamp installation apparatus according to claim 1 , wherein the work pedestal has a plurality of prominences, and wherein the clamp has a frame and plurality of hooks installed to the frame and engaged with the plurality of prominences, respectively.

8. A clamp installation system comprising: the clamp installation apparatus according to claim 1 ; a first rail extending to a first direction as a longitudinal direction of the work; and a second rail extending to a second direction orthogonal to the first direction, wherein the robot arm pedestal comprises: a first traveling mechanism configured to run on the first rail; and a second traveling mechanism configured to run on the second rail, and wherein the control device drives the first traveling mechanism and the second traveling mechanism so that the robot arm pedestal is moved to a predetermined position.

9. A method of installing a clamp in a clamp installation system which comprises: a robot arm pedestal having a rotary table; a robot arm installed on the rotary table of the robot arm pedestal and having a plurality of arms and a plurality of joints; and a robot hand installed in a forefront arm of a plurality of arms, wherein the robot hand comprises: a clamp holding section configured to hold a clamp; a fastening section configured to fasten an engaging section of the clamp to give the clamp force to a work; a measuring section configured to collect position data of a predetermined member of the clamp; the method of installing a clamp comprising: driving the rotary table and the plurality of joints to move the robot hand above the clamp as a first clamp; lowering the robot hand to hold the first clamp by the clamp holding section; lifting the first clamp in a condition that the first clamp is held; conveying the first clamp to a first predetermined position of a work pedestal on which the work is put; lowering the robot hand and moving the robot hand in a horizontal plane so that an engaging section of the first clamp is engaged with a connection section of the work pedestal; calculating the clamp force based on the position data acquired from the measuring section in a condition that the first clamp and the work pedestal are coupled to each other; and driving the fastening section so that the calculated clamp force becomes a second predetermined value.

10. The method of installing the clamp according to claim 9 , wherein the clamp installation system further comprises: a first rail extending to a first direction as a longitudinal direction of the work; and a second rail extending to a second direction orthogonal to the first direction, wherein the robot arm pedestal comprises: a first traveling mechanism configured to run on the first rail; and a second traveling mechanism configured to run on the second rail, wherein the conveying the first clamp to the first predetermined position of the work pedestal comprises driving the second traveling mechanism, The method of installing the clamp further comprises: controlling the clamp holding section to release the first clamp when the installation of the first clamp is ended; driving the second traveling mechanism to move the robot arm pedestal to a position before taking-out of the first clamp; and driving the first traveling mechanism to move the robot arm to a taking-out position of a second clamp.